Mechanism for stair climbing in a cluster-wheel vehicle

1. A mechanism for restoring static stability to a transport device for climbing or descending stairs, the transport device being characterized by a a pitch and having a cluster arm, a cluster arm actuator characterized by a temperature for driving the cluster arm in rotation, and a brake capable of braking the cluster arm, the mechanism comprising: a. a controller for detecting over temperature condition and limiting the a sensor for monitoring the temperature of the cluster arm actuator and providing a sensor signal; and b. a controller for monitoring the sensor signal and disengaging the brake when the sensor signal exceeds a preset threshold so as to allow the cluster arm to rotate freely in such a manner that the device assumes a statically stable configuration on the stairs.

2. A mechanism for limiting a load driven by an actuator that drives a transport device in ascent and descent on stairs, the actuator characterized by a temperature, the mechanism comprising: a. a temperature sensor for monitoring the temperature of the actuator; b. a controller for detecting an over-temperature condition and limiting the cluster actuator load if by allowing cluster rotation only in the direction of descent for the duration, of the over-temperature condition.